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Miscellaneous improvements 

Improve modularity of CMake design
Improve building speed in multicore processors
Files command_event.* moved to core/libs
Remove Armadillo from public core_receiver interface
Uniformize name format for classes
Apply some fixes by clang-tidy
Improve documentation
This commit is contained in:
Carles Fernandez 2019-07-21 12:55:59 +02:00
parent 82c4643ffb
commit 37fdfca5ec
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
23 changed files with 176 additions and 125 deletions
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2
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -157,7 +157,7 @@ public:
/*!
* \brief Generates the Mixed GPS L1,L5 + BDS B1I, B3I Navigation Data header
*/
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_lnav_iono, const Gps_Utc_Model& gps_lnav_utc_model, const Gps_Ephemeris& eph, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model);
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model);
/*!
* \brief Generates the Mixed GPS L2C + BDS B1I, B3I Navigation Data header

2
src/algorithms/channel/adapters/CMakeLists.txt
View File

@ -31,7 +31,6 @@ target_link_libraries(channel_adapters
Gnuradio::runtime
channel_libs
core_system_parameters
core_receiver
PRIVATE
Gflags::gflags
Glog::glog
@ -41,6 +40,7 @@ target_link_libraries(channel_adapters
target_include_directories(channel_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
)
if(ENABLE_CLANG_TIDY)

7
src/algorithms/channel/libs/CMakeLists.txt
View File

@ -35,16 +35,21 @@ add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
target_link_libraries(channel_libs
PUBLIC
core_libs
core_system_parameters
Gnuradio::runtime
Gnuradio::pmt
PRIVATE
core_libs
Boost::boost
Gflags::gflags
Glog::glog
)
target_include_directories(channel_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/receiver
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(channel_libs

2
src/algorithms/libs/pass_through.cc
View File

@ -109,7 +109,7 @@ Pass_Through::Pass_Through(ConfigurationInterface* configuration, const std::str
}
kludge_copy_ = gr::blocks::copy::make(item_size_);
unsigned long int max_source_buffer_samples = configuration->property("GNSS-SDR.max_source_buffer_samples", 0);
uint64_t max_source_buffer_samples = configuration->property("GNSS-SDR.max_source_buffer_samples", 0ULL);
if (max_source_buffer_samples > 0)
{
kludge_copy_->set_max_output_buffer(max_source_buffer_samples);

2
src/algorithms/signal_generator/adapters/CMakeLists.txt
View File

@ -34,12 +34,12 @@ target_link_libraries(signal_generator_adapters
Gflags::gflags
Glog::glog
algorithms_libs
core_receiver
)
target_include_directories(signal_generator_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
)
if(ENABLE_CLANG_TIDY)

2
src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h
View File

@ -148,7 +148,7 @@ private:
std::vector<std::vector<gr_complex>> sampled_code_data_;
std::vector<std::vector<gr_complex>> sampled_code_pilot_;
std::vector<gr_complex> complex_phase_;
unsigned int work_counter_;
unsigned int work_counter_{};
std::random_device r;
std::default_random_engine e1;
std::default_random_engine e2;

9
src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
View File

@ -60,15 +60,20 @@ add_library(signal_source_gr_blocks
target_link_libraries(signal_source_gr_blocks
PUBLIC
signal_source_libs
Boost::thread
Gnuradio::runtime
signal_source_libs
PRIVATE
core_receiver
core_libs
Gflags::gflags
Glog::glog
)
target_include_directories(signal_source_gr_blocks
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/receiver
)
if(ENABLE_RAW_UDP AND PCAP_FOUND)
target_link_libraries(signal_source_gr_blocks
PUBLIC

7
src/algorithms/signal_source/libs/CMakeLists.txt
View File

@ -71,10 +71,15 @@ target_link_libraries(signal_source_libs
PUBLIC
Boost::boost
Gnuradio::runtime
core_receiver
PRIVATE
Gflags::gflags
Glog::glog
core_libs
)
target_include_directories(signal_source_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/receiver
)
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)

2
src/core/libs/CMakeLists.txt
View File

@ -26,6 +26,7 @@ set(CORE_LIBS_SOURCES
gnss_sdr_sample_counter.cc
channel_status_msg_receiver.cc
channel_event.cc
command_event.cc
)
set(CORE_LIBS_HEADERS
@ -36,6 +37,7 @@ set(CORE_LIBS_HEADERS
gnss_sdr_sample_counter.h
channel_status_msg_receiver.h
channel_event.h
command_event.h
)
if(ENABLE_FPGA)

4
src/core/libs/channel_event.cc
View File

@ -32,10 +32,10 @@
channel_event_sptr channel_event_make(int channel_id, int event_type)
{
return channel_event_sptr(new channel_event(channel_id, event_type));
return channel_event_sptr(new Channel_Event(channel_id, event_type));
}
channel_event::channel_event(int channel_id_, int event_type_)
Channel_Event::Channel_Event(int channel_id_, int event_type_)
{
channel_id = channel_id_;
event_type = event_type_;

10
src/core/libs/channel_event.h
View File

@ -33,21 +33,21 @@
#include <memory>
class channel_event;
class Channel_Event;
using channel_event_sptr = std::shared_ptr<channel_event>;
using channel_event_sptr = std::shared_ptr<Channel_Event>;
channel_event_sptr channel_event_make(int channel_id, int event_type);
class channel_event
class Channel_Event
{
public:
int channel_id;
int event_type;
private:
friend channel_event_sptr channel_event_make(int channel_id, int event_type);
channel_event(int channel_id_, int event_type_);
Channel_Event(int channel_id_, int event_type_);
};
#endif

27
src/core/libs/channel_status_msg_receiver.cc
View File

@ -1,11 +1,11 @@
/*!
* \file channel_status_msg_receiver.cc
* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
* \author Javier Arribas, 2016. jarribas(at)cttc.es
* \author Javier Arribas, 2019. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -75,12 +75,12 @@ void channel_status_msg_receiver::msg_handler_events(const pmt::pmt_t& msg)
d_channel_status_map.erase(gnss_synchro_obj->Channel_ID);
}
// std::cout << "-------- \n\n";
// for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = d_channel_status_map.begin(); it != d_channel_status_map.end(); ++it)
// {
// std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] \n";
// }
// std::cout << "-------- \n\n";
// std::cout << "-------- " << std::endl << std::endl;
// for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = d_channel_status_map.begin(); it != d_channel_status_map.end(); ++it)
// {
// std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] " << std::endl;
// }
// std::cout << "-------- " << std::endl << std::endl;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Monitor_Pvt>))
{
@ -88,10 +88,10 @@ void channel_status_msg_receiver::msg_handler_events(const pmt::pmt_t& msg)
std::shared_ptr<Monitor_Pvt> monitor_pvt_obj;
monitor_pvt_obj = boost::any_cast<std::shared_ptr<Monitor_Pvt>>(pmt::any_ref(msg));
d_pvt_status = *monitor_pvt_obj.get();
//
// std::cout << "-------- \n\n";
// std::cout << "PVT TOW: " << d_pvt_status->TOW_at_current_symbol_ms << std::endl;
// std::cout << "-------- \n\n";
// std::cout << "-------- " << std::endl << std::endl;
// std::cout << "PVT TOW: " << d_pvt_status->TOW_at_current_symbol_ms << std::endl;
// std::cout << "-------- " << std::endl << std::endl;
}
else
{
@ -104,11 +104,14 @@ void channel_status_msg_receiver::msg_handler_events(const pmt::pmt_t& msg)
}
}
std::map<int, std::shared_ptr<Gnss_Synchro>> channel_status_msg_receiver::get_current_status_map()
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_events function called by the scheduler
return d_channel_status_map;
}
Monitor_Pvt channel_status_msg_receiver::get_current_status_pvt()
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_events function called by the scheduler

7
src/core/libs/channel_status_msg_receiver.h
View File

@ -1,11 +1,11 @@
/*!
* \file channel_msg_receiver_cc.h
* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
* \author Javier Arribas, 2016. jarribas(at)cttc.es
* \author Javier Arribas, 2019. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -50,10 +50,12 @@ class channel_status_msg_receiver : public gr::block
{
public:
~channel_status_msg_receiver(); //!< Default destructor
/*!
* \brief return the current status map of all channels with valid telemetry
*/
std::map<int, std::shared_ptr<Gnss_Synchro>> get_current_status_map();
/*!
* \brief return the current receiver PVT
*/
@ -63,7 +65,6 @@ private:
friend channel_status_msg_receiver_sptr channel_status_msg_receiver_make();
channel_status_msg_receiver();
std::map<int, std::shared_ptr<Gnss_Synchro>> d_channel_status_map;
Monitor_Pvt d_pvt_status{};
void msg_handler_events(const pmt::pmt_t& msg);
};

4
src/core/receiver/command_event.cc → src/core/libs/command_event.cc
View File

@ -32,10 +32,10 @@
command_event_sptr command_event_make(int command_id, int event_type)
{
return command_event_sptr(new command_event(command_id, event_type));
return command_event_sptr(new Command_Event(command_id, event_type));
}
command_event::command_event(int command_id_, int event_type_)
Command_Event::Command_Event(int command_id_, int event_type_)
{
command_id = command_id_;
event_type = event_type_;

12
src/core/receiver/command_event.h → src/core/libs/command_event.h
View File

@ -28,18 +28,18 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_command_EVENT_H
#define GNSS_SDR_command_EVENT_H
#ifndef GNSS_SDR_COMMAND_EVENT_H
#define GNSS_SDR_COMMAND_EVENT_H
#include <memory>
class command_event;
class Command_Event;
using command_event_sptr = std::shared_ptr<command_event>;
using command_event_sptr = std::shared_ptr<Command_Event>;
command_event_sptr command_event_make(int command_id, int event_type);
class command_event
class Command_Event
{
public:
int command_id;
@ -47,7 +47,7 @@ public:
private:
friend command_event_sptr command_event_make(int command_id, int event_type);
command_event(int command_id_, int event_type_);
Command_Event(int command_id_, int event_type_);
};
#endif

17
src/core/receiver/CMakeLists.txt
View File

@ -24,7 +24,6 @@ set(GNSS_RECEIVER_SOURCES
gnss_flowgraph.cc
in_memory_configuration.cc
tcp_cmd_interface.cc
command_event.cc
)
set(GNSS_RECEIVER_HEADERS
@ -36,7 +35,6 @@ set(GNSS_RECEIVER_HEADERS
tcp_cmd_interface.h
concurrent_map.h
concurrent_queue.h
command_event.h
)
list(SORT GNSS_RECEIVER_HEADERS)
@ -135,17 +133,11 @@ endif()
target_link_libraries(core_receiver
PUBLIC
Armadillo::armadillo
Boost::boost
Boost::thread
Gnuradio::runtime
channel_libs
core_libs
core_monitor
Boost::thread
Gnuradio::runtime
PRIVATE
Boost::chrono
Gflags::gflags
Glog::glog
signal_source_adapters
data_type_adapters
input_filter_adapters
@ -157,6 +149,11 @@ target_link_libraries(core_receiver
telemetry_decoder_adapters
obs_adapters
pvt_adapters
Boost::boost
Boost::chrono
Gflags::gflags
Glog::glog
Armadillo::armadillo
)
# Fix for Boost Asio < 1.70

12
src/core/receiver/concurrent_map.h
View File

@ -31,8 +31,8 @@
#ifndef GNSS_SDR_CONCURRENT_MAP_H
#define GNSS_SDR_CONCURRENT_MAP_H
#include <boost/thread/mutex.hpp>
#include <map>
#include <mutex>
#include <utility>
@ -49,7 +49,7 @@ class Concurrent_Map
public:
void write(int key, Data const& data)
{
boost::mutex::scoped_lock lock(the_mutex);
std::unique_lock<std::mutex> lock(the_mutex);
Data_iterator data_iter;
data_iter = the_map.find(key);
if (data_iter != the_map.end())
@ -65,7 +65,7 @@ public:
std::map<int, Data> get_map_copy()
{
boost::mutex::scoped_lock lock(the_mutex);
std::unique_lock<std::mutex> lock(the_mutex);
std::map<int, Data> map_aux = the_map;
lock.unlock();
return map_aux;
@ -73,7 +73,7 @@ public:
size_t size()
{
boost::mutex::scoped_lock lock(the_mutex);
std::unique_lock<std::mutex> lock(the_mutex);
size_t size_ = the_map.size();
lock.unlock();
return size_;
@ -81,7 +81,7 @@ public:
bool read(int key, Data& p_data)
{
boost::mutex::scoped_lock lock(the_mutex);
std::unique_lock<std::mutex> lock(the_mutex);
Data_iterator data_iter;
data_iter = the_map.find(key);
if (data_iter != the_map.end())
@ -96,7 +96,7 @@ public:
private:
std::map<int, Data> the_map;
boost::mutex the_mutex;
mutable std::mutex the_mutex;
};
#endif

17
src/core/receiver/control_thread.cc
View File

@ -60,6 +60,8 @@
#include "rtklib_conversions.h" // for alm_to_rtklib
#include "rtklib_ephemeris.h" // for alm2pos, eph2pos
#include "rtklib_rtkcmn.h" // for utc2gpst
#include <armadillo> // for interaction with geofunctions
#include <boost/chrono.hpp> // for steady_clock
#include <boost/lexical_cast.hpp> // for bad_lexical_cast
#include <glog/logging.h> // for LOG
#include <pmt/pmt.h> // for make_any
@ -67,7 +69,6 @@
#include <array> // for array
#include <chrono> // for milliseconds
#include <cmath> // for floor, fmod, log
#include <ctime> // for gmtime, strftime
#include <exception> // for exception
#include <iostream> // for operator<<, endl
#include <limits> // for numeric_limits
@ -225,6 +226,7 @@ void ControlThread::telecommand_listener()
}
}
void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
{
if (valid_event)
@ -270,6 +272,7 @@ void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
}
}
/*
* Runs the control thread that manages the receiver control plane
*
@ -813,9 +816,9 @@ void ControlThread::assist_GNSS()
if ((agnss_ref_location_.valid == true) and ((enable_gps_supl_assistance == true) or (enable_agnss_xml == true)))
{
// Get the list of visible satellites
arma::vec ref_LLH = arma::zeros(3, 1);
ref_LLH(0) = agnss_ref_location_.lat;
ref_LLH(1) = agnss_ref_location_.lon;
std::array<float, 3> ref_LLH{};
ref_LLH[0] = agnss_ref_location_.lat;
ref_LLH[1] = agnss_ref_location_.lon;
time_t ref_rx_utc_time = 0;
if (agnss_ref_time_.valid == true)
{
@ -885,10 +888,10 @@ void ControlThread::apply_action(unsigned int what)
}
std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time_t rx_utc_time, const arma::vec &LLH)
std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time_t rx_utc_time, const std::array<float, 3> &LLH)
{
// 1. Compute rx ECEF position from LLH WGS84
arma::vec LLH_rad = arma::vec{degtorad(LLH(0)), degtorad(LLH(1)), LLH(2)};
arma::vec LLH_rad = arma::vec{degtorad(LLH[0]), degtorad(LLH[1]), LLH[2]};
arma::mat C_tmp = arma::zeros(3, 3);
arma::vec r_eb_e = arma::zeros(3, 1);
arma::vec v_eb_e = arma::zeros(3, 1);
@ -912,7 +915,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
strftime(buf, sizeof(buf), "%d/%m/%Y %H:%M:%S ", &tstruct);
std::string str_time = std::string(buf);
std::cout << "Get visible satellites at " << str_time
<< "UTC, assuming RX position " << LLH(0) << " [deg], " << LLH(1) << " [deg], " << LLH(2) << " [m]" << std::endl;
<< "UTC, assuming RX position " << LLH[0] << " [deg], " << LLH[1] << " [deg], " << LLH[2] << " [m]" << std::endl;
std::map<int, Gps_Ephemeris> gps_eph_map = pvt_ptr->get_gps_ephemeris();
for (auto &it : gps_eph_map)

32
src/core/receiver/control_thread.h
View File

@ -9,7 +9,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -35,15 +35,15 @@
#ifndef GNSS_SDR_CONTROL_THREAD_H_
#define GNSS_SDR_CONTROL_THREAD_H_
#include "agnss_ref_location.h" // for Agnss_Ref_Location
#include "agnss_ref_time.h" // for Agnss_Ref_Time
#include "concurrent_queue.h"
#include "agnss_ref_location.h" // for Agnss_Ref_Location
#include "agnss_ref_time.h" // for Agnss_Ref_Time
#include "concurrent_queue.h" // for Concurrent_Queue
#include "gnss_sdr_supl_client.h" // for Gnss_Sdr_Supl_Client
#include "tcp_cmd_interface.h" // for TcpCmdInterface
#include <armadillo> // for arma::vec
#include <boost/thread.hpp> // for boost::thread
#include <pmt/pmt.h>
#include <ctime> // for time_t
#include <array> // for array
#include <ctime> // for time_t (gmtime, strftime in implementation)
#include <memory> // for shared_ptr
#include <string> // for string
#include <thread> // for std::thread
@ -75,7 +75,9 @@ public:
*/
ControlThread(std::shared_ptr<ConfigurationInterface> configuration);
//! \brief Destructor
/*!
* \brief Destructor
*/
~ControlThread();
/*! \brief Runs the control thread
@ -99,12 +101,12 @@ public:
*/
void set_control_queue(const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue); // NOLINT(performance-unnecessary-value-param)
unsigned int processed_control_messages()
unsigned int processed_control_messages() const
{
return processed_control_messages_;
}
unsigned int applied_actions()
unsigned int applied_actions() const
{
return applied_actions_;
}
@ -120,15 +122,18 @@ public:
}
private:
//Telecommand TCP interface
// Telecommand TCP interface
TcpCmdInterface cmd_interface_;
void telecommand_listener();
/*
* New receiver event dispatcher
*/
void event_dispatcher(bool &valid_event, pmt::pmt_t &msg);
std::thread cmd_interface_thread_;
//SUPL assistance classes
// SUPL assistance classes
Gnss_Sdr_Supl_Client supl_client_acquisition_;
Gnss_Sdr_Supl_Client supl_client_ephemeris_;
int supl_mcc; // Current network MCC (Mobile country code), 3 digits.
@ -141,9 +146,6 @@ private:
// Read {ephemeris, iono, utc, ref loc, ref time} assistance from a local XML file previously recorded
bool read_assistance_from_XML();
// Save {ephemeris, iono, utc, ref loc, ref time} assistance to a local XML file
//bool save_assistance_to_XML();
/*
* Blocking function that reads the GPS assistance queue
*/
@ -153,7 +155,7 @@ private:
* Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues
* returns a vector filled with the available satellites ordered from high elevation to low elevation angle.
*/
std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec &LLH);
std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const std::array<float, 3> &LLH);
/*
* Read initial GNSS assistance from SUPL server or local XML files

41
src/core/receiver/gnss_flowgraph.cc
View File

@ -64,7 +64,6 @@
#include <set> // for set
#include <stdexcept> // for invalid_argument
#include <thread> // for thread
#include <utility> // for move
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
@ -1295,7 +1294,10 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
push_back_signal(gs);
}
channels_state_[who] = 0;
if (acq_channels_count_ > 0) acq_channels_count_--;
if (acq_channels_count_ > 0)
{
acq_channels_count_--;
}
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
@ -1305,7 +1307,10 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
remove_signal(channels_[who]->get_signal());
channels_state_[who] = 2;
if (acq_channels_count_ > 0) acq_channels_count_--;
if (acq_channels_count_ > 0)
{
acq_channels_count_--;
}
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
@ -1900,18 +1905,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked GPS L1 satellites and assist the GPS L2 acquisition if the satellite is not tracked on L2
bool found_signal = false;
for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
for (auto& current_status : current_channels_status)
{
if (std::string(it->second->Signal) == "1C")
if (std::string(current_status.second->Signal) == "1C")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GPS_2S_signals_), std::end(available_GPS_2S_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GPS_2S_signals_.end())
{
estimated_doppler = it->second->Carrier_Doppler_hz;
RX_time = it->second->RX_time;
estimated_doppler = current_status.second->Carrier_Doppler_hz;
RX_time = current_status.second->RX_time;
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the GPS L2 satellite and remove it from list
result = *it2;
@ -1953,18 +1958,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// 1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked GPS L1 satellites and assist the GPS L5 acquisition if the satellite is not tracked on L5
for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
for (auto& current_status : current_channels_status)
{
if (std::string(it->second->Signal) == "1C")
if (std::string(current_status.second->Signal) == "1C")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GPS_L5_signals_), std::end(available_GPS_L5_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GPS_L5_signals_.end())
{
estimated_doppler = it->second->Carrier_Doppler_hz;
RX_time = it->second->RX_time;
estimated_doppler = current_status.second->Carrier_Doppler_hz;
RX_time = current_status.second->RX_time;
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the GPS L5 satellite and remove it from list
result = *it2;
@ -2007,18 +2012,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// 1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
for (auto& current_status : current_channels_status)
{
if (std::string(it->second->Signal) == "1B")
if (std::string(current_status.second->Signal) == "1B")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GAL_5X_signals_), std::end(available_GAL_5X_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GAL_5X_signals_.end())
{
estimated_doppler = it->second->Carrier_Doppler_hz;
RX_time = it->second->RX_time;
estimated_doppler = current_status.second->Carrier_Doppler_hz;
RX_time = current_status.second->RX_time;
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the Gal 5X satellite and remove it from list
result = *it2;

56
src/core/receiver/gnss_flowgraph.h
View File

@ -11,7 +11,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -42,7 +42,7 @@
#include "gnss_sdr_sample_counter.h"
#include "gnss_signal.h"
#include "pvt_interface.h"
#include <gnuradio/blocks/null_sink.h> //for null_sink
#include <gnuradio/blocks/null_sink.h> // for null_sink
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <pmt/pmt.h> // for pmt_t
#include <list> // for list
@ -79,10 +79,14 @@ public:
*/
~GNSSFlowgraph();
//! \brief Start the flow graph
/*!
* \brief Start the flow graph
*/
void start();
//! \brief Stop the flow graph
/*!
* \brief Stop the flow graph
*/
void stop();
/*!
@ -92,16 +96,27 @@ public:
*/
void connect();
/*!
* \brief Disconnect the blocks in the flow graph
*/
void disconnect();
/*!
* \brief Wait for a flowgraph to complete.
*
* Flowgraphs complete when either
* (1) all blocks indicate that they are done, or
* (2) after stop() has been called to request shutdown.
*/
void wait();
#ifdef ENABLE_FPGA
void start_acquisition_helper();
void perform_hw_reset();
#endif
/*!
* \brief Manage satellite acquisition
*
* \param[in] who Channel ID
*/
void acquisition_manager(unsigned int who);
/*!
* \brief Applies an action to the flow graph
*
@ -110,10 +125,9 @@ public:
*/
void apply_action(unsigned int who, unsigned int what);
void push_back_signal(const Gnss_Signal& gs);
void remove_signal(const Gnss_Signal& gs);
/*!
* \brief Set flow graph configuratiob
*/
void set_configuration(std::shared_ptr<ConfigurationInterface> configuration);
bool connected() const
@ -127,7 +141,7 @@ public:
}
/*!
* \brief Sends a GNURadio asynchronous message from telemetry to PVT
* \brief Sends a GNU Radio asynchronous message from telemetry to PVT
*
* It is used to assist the receiver with external ephemeris data
*/
@ -146,6 +160,12 @@ public:
*/
void priorize_satellites(const std::vector<std::pair<int, Gnss_Satellite>>& visible_satellites);
#ifdef ENABLE_FPGA
void start_acquisition_helper();
void perform_hw_reset();
#endif
private:
void init(); // Populates the SV PRN list available for acquisition and tracking
void set_signals_list();
@ -157,6 +177,10 @@ private:
bool& assistance_available,
float& estimated_doppler,
double& RX_time);
void push_back_signal(const Gnss_Signal& gs);
void remove_signal(const Gnss_Signal& gs);
bool connected_;
bool running_;
int sources_count_;
@ -209,7 +233,7 @@ private:
std::map<std::string, StringValue> mapStringValues_;
std::vector<unsigned int> channels_state_;
channel_status_msg_receiver_sptr channels_status_; //class that receives and stores the current status of the receiver channels
channel_status_msg_receiver_sptr channels_status_; // class that receives and stores the current status of the receiver channels
std::mutex signal_list_mutex;
bool enable_monitor_;
@ -217,4 +241,4 @@ private:
std::vector<std::string> split_string(const std::string& s, char delim);
};
#endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/
#endif /* GNSS_SDR_GNSS_FLOWGRAPH_H_ */

17
src/core/receiver/tcp_cmd_interface.cc
View File

@ -33,7 +33,6 @@
#include "command_event.h"
#include "pvt_interface.h"
#include <boost/asio.hpp>
#include <array>
#include <cmath> // for isnan
#include <exception> // for exception
#include <iomanip> // for setprecision
@ -51,9 +50,9 @@ TcpCmdInterface::TcpCmdInterface()
register_functions();
keep_running_ = true;
control_queue_ = nullptr;
rx_latitude_ = 0;
rx_longitude_ = 0;
rx_altitude_ = 0;
rx_latitude_ = 0.0;
rx_longitude_ = 0.0;
rx_altitude_ = 0.0;
receiver_utc_time_ = 0;
}
@ -85,9 +84,9 @@ time_t TcpCmdInterface::get_utc_time()
}
arma::vec TcpCmdInterface::get_LLH()
std::array<float, 3> TcpCmdInterface::get_LLH() const
{
return arma::vec{rx_latitude_, rx_longitude_, rx_altitude_};
return std::array<float, 3>{rx_latitude_, rx_longitude_, rx_altitude_};
}
@ -192,9 +191,9 @@ std::string TcpCmdInterface::hotstart(const std::vector<std::string> &commandLin
receiver_utc_time_ = timegm(&tm);
// Read latitude, longitude, and height
rx_latitude_ = std::stod(commandLine.at(3).c_str());
rx_longitude_ = std::stod(commandLine.at(4).c_str());
rx_altitude_ = std::stod(commandLine.at(5).c_str());
rx_latitude_ = std::stof(commandLine.at(3).c_str());
rx_longitude_ = std::stof(commandLine.at(4).c_str());
rx_altitude_ = std::stof(commandLine.at(5).c_str());
if (std::isnan(rx_latitude_) || std::isnan(rx_longitude_) || std::isnan(rx_altitude_))
{

10
src/core/receiver/tcp_cmd_interface.h
View File

@ -33,8 +33,8 @@
#include "concurrent_queue.h"
#include <armadillo>
#include <pmt/pmt.h>
#include <array>
#include <cstdint>
#include <ctime>
#include <functional>
@ -61,7 +61,7 @@ public:
/*!
* \brief gets the Latitude, Longitude and Altitude vector from the last TC command issued
*/
arma::vec get_LLH();
std::array<float, 3> get_LLH() const;
void set_pvt(std::shared_ptr<PvtInterface> PVT_sptr);
@ -83,9 +83,9 @@ private:
time_t receiver_utc_time_;
double rx_latitude_;
double rx_longitude_;
double rx_altitude_;
float rx_latitude_;
float rx_longitude_;
float rx_altitude_;
std::shared_ptr<PvtInterface> PVT_sptr_;
};